Title:
INERTIAL NAVIGATION INITIAL-ALIGNMENT METHOD AND APPARATUS APPLIED TO OBLIQUE MEASUREMENT, AND DEVICE
Document Type and Number:
WIPO Patent Application WO/2023/202262
Kind Code:
A1
Abstract:
An inertial navigation initial-alignment method and apparatus (300) applied to oblique measurement, and a device. The method comprises: acquiring a first specific force vector of an inertial navigation system of a receiver in a carrier coordinate system, and Doppler speed information and position information (101); determining a second specific force vector of the inertial navigation system of the receiver in a navigation coordinate system according to the Doppler speed information and the position information (102); determining a first projection of the first specific force vector in the carrier inertial system at an initial moment, and determining a second projection of the second specific force vector in the navigation inertial system at an initial moment (103); respectively performing time integration on the first projection and the second projection, so as to obtain a first projection integral velocity and a second projection integral velocity (104); and determining a first relative relationship of the carrier coordinate system with respect to the navigation coordinate system according to first projection integral velocities and second projection integral velocities at at least two different moments (105). By means of the inertial navigation initial-alignment method applied to oblique measurement, the alignment precision and reliability of initial alignment of an inertial navigation system can be improved.
Inventors:
LIU YANG (CN)
ZHAO HONGSONG (CN)
XING JUHONG (CN)
WANG YONGSONG (CN)
QIU MOBO (CN)
ZHAO HONGSONG (CN)
XING JUHONG (CN)
WANG YONGSONG (CN)
QIU MOBO (CN)
Application Number:
PCT/CN2023/080900
Publication Date:
October 26, 2023
Filing Date:
March 10, 2023
Export Citation:
Assignee:
QIANXUN SPATIAL INTELLIGENCE INC (CN)
International Classes:
G01C25/00
Foreign References:
| CN113834502A | 2021-12-24 | |||
| CN103104251A | 2013-05-15 | |||
| CN106123921A | 2016-11-16 | |||
| CN110285838A | 2019-09-27 | |||
| CN113155150A | 2021-07-23 | |||
| CN113405563A | 2021-09-17 | |||
| CN113093256A | 2021-07-09 | |||
| JP2003065793A | 2003-03-05 |
Attorney, Agent or Firm:
BEIJING EAST IP LTD. (CN)
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